So frustrating

I’m a full grown adult and still look for my parents approval, or ask myself if my parents would be okay with me doing something - or what would my parents think?? I’ve been that way for yeeeeaaarrrrs. As a teenager I just always wanted to please them and my question is WHY?? I think I need to move away from them and become my own person. I just feel like they have all this control over me. Truly, it’s concerning. Any advice?